JP5050870B2 - Positioning method, program, and positioning device - Google Patents

Positioning method, program, and positioning device Download PDF

Info

Publication number
JP5050870B2
JP5050870B2 JP2008008723A JP2008008723A JP5050870B2 JP 5050870 B2 JP5050870 B2 JP 5050870B2 JP 2008008723 A JP2008008723 A JP 2008008723A JP 2008008723 A JP2008008723 A JP 2008008723A JP 5050870 B2 JP5050870 B2 JP 5050870B2
Authority
JP
Japan
Prior art keywords
polarity
positioning
signal
received signal
data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2008008723A
Other languages
Japanese (ja)
Other versions
JP2009168698A (en
Inventor
真秀 寺島
章 木村
Original Assignee
セイコーエプソン株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by セイコーエプソン株式会社 filed Critical セイコーエプソン株式会社
Priority to JP2008008723A priority Critical patent/JP5050870B2/en
Publication of JP2009168698A publication Critical patent/JP2009168698A/en
Application granted granted Critical
Publication of JP5050870B2 publication Critical patent/JP5050870B2/en
Application status is Active legal-status Critical
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • G01S19/24Acquisition or tracking or demodulation of signals transmitted by the system

Description

  The present invention relates to a positioning method, a program, and a positioning device.

  As a positioning system using positioning signals, GPS (Global Positioning System) is widely known, and is used for positioning devices built in portable telephones, car navigation devices, and the like. In GPS, the values of four parameters, the three-dimensional coordinate value indicating the position of the aircraft and the clock error, are calculated based on information such as the positions of a plurality of GPS satellites and the pseudoranges from each GPS satellite to the aircraft. The current position of the aircraft is measured by performing the required positioning calculation.

A GPS satellite signal transmitted from a GPS satellite is modulated with a spreading code different for each GPS satellite called a PRN code. It is known that the polarity of this PRN code can be reversed at intervals of 20 milliseconds by phase modulation using navigation data (for example, Patent Document 1).
JP-A-11-258326

  In the conventional positioning device, in order to capture (extract) the GPS satellite signal from the weak reception signal, the reception signal is cumulatively added (integrated) for a predetermined cumulative addition time, and the signal of the cumulative addition result is obtained. On the other hand, a method of performing a correlation operation with a replica code of a PRN code is generally used.

  However, as described above, the timing at which the polarity of the PRN code is inverted (hereinafter referred to as “polarity inversion timing”) appears every 20 milliseconds (hereinafter, this timing is referred to as “polarity inversion possible timing”). obtain. Therefore, when cumulative addition (accumulation) is performed across the polarity reversible timing, polarity reversal is performed at the polarity reversible timing, and signals with different polarities may be cumulatively added before and after the timing. If signals having different polarities are cumulatively added, part or all of the received signals are canceled out, resulting in a problem that the reception sensitivity is lowered.

  The present invention has been made in view of the above-described problems.

  According to a first aspect of the present invention for solving the above problems, the IQ components of the received signal of the positioning signal spread-modulated with a spreading code whose polarity is inverted by the navigation data are cumulatively added for each polarity, and the cumulative addition is performed. Calculating a square sum of results, performing a correlation operation between the calculation result of the square sum and the replica code of the spreading code, and performing a predetermined positioning operation based on the result of the correlation operation Positioning a current position.

  Further, as another invention, a cumulative addition unit that cumulatively adds each IQ component of the received signal of the positioning signal spread-modulated with a spreading code whose polarity is inverted by the navigation data for each polarity, and a square sum of the cumulative addition results A calculation unit that calculates a correlation between the calculation result of the sum of squares and the replica code of the spreading code, and a predetermined positioning calculation based on the result of the correlation calculation, You may comprise the positioning apparatus provided with the positioning part which measures position.

  According to the first aspect of the invention, the IQ component of the received signal is cumulatively added for each polarity, and then the sum of squares of the cumulative addition result is calculated to perform the correlation operation. Signal cancellation due to the addition of components having opposite polarities does not occur, and a decrease in reception sensitivity can be effectively prevented.

  Further, as a second invention, the positioning method according to the first invention, wherein the time series data of the received signal is checked with the time series data of the navigation data of the positioning signal, and polarity inversion in the navigation data The method further includes estimating a timing at which the polarity of the received signal is inverted and determining the polarity by determining a timing matching portion, and the cumulative addition is performed for each polarity according to the estimated polarity inversion timing and the polarity. You may comprise the positioning method which is carrying out cumulative addition of each IQ component of the said received signal.

  According to the second aspect of the present invention, the so-called pattern matching process using the time series data of the received signal as the determination target data and the time series data of the navigation data of the positioning signal as the reference data, The polarity can be easily estimated.

  According to a third aspect of the invention, there is provided a positioning method according to the first aspect of the invention, wherein a common data portion that is common between navigation data of different positioning signals is selected, and time series data of the received signal is selected as the common data. The timing of inversion of the polarity of the received signal and estimation of the polarity by determining a matching portion of the polarity inversion timing in the common data portion by checking with the portion, and the cumulative addition This may constitute a positioning method in which each IQ component of the received signal is cumulatively added for each polarity according to the estimated polarity inversion timing and the polarity.

  For example, navigation data of GPS satellite signals includes data such as almanac (satellite calendar), ephemeris (orbital calendar), ionospheric correction parameters, UTC (Coordinated Universal Time) information, and the like. Among these data, for example, data such as almanac, ionospheric correction parameters, and UTC information are data common to all GPS satellite signals. According to the third invention, it is possible to estimate the polarity determination timing of the received signal and its polarity by the pattern matching process using the common data portion of the navigation data as reference data.

  As a fourth invention, in the positioning method according to the first invention, when the navigation data corresponding to the positioning signal has been acquired, the time series data of the received signal is converted to the navigation of the positioning signal. By checking the time series data of the data and determining the coincidence of the polarity inversion timing in the navigation data, estimating the timing at which the polarity of the received signal is inverted and its polarity, and different positioning signals Selecting a common data portion that is common between the navigation data, and checking the time series data of the received signal with the common data portion when the navigation data corresponding to the positioning signal has not been acquired. Determining a timing at which the polarity of the received signal is inverted and estimating the polarity by determining a matching portion of the polarity inversion timing in the data portion, and Adding may constitute a positioning method is to continue to accumulating each IQ components of the estimated polarity reversal timing and the received signal to the polarity different according to their polarity.

  According to the fourth aspect of the invention, when the navigation data corresponding to the positioning signal has been acquired, the pattern matching process is performed using the time series data of the navigation data of the positioning signal as reference data, and the positioning signal is converted into the positioning signal. If the corresponding navigation data has not been acquired, pattern matching processing is performed using the common data portion of the navigation data as reference data. With this configuration, it is possible to estimate the polarity inversion timing of the received signal and its polarity regardless of whether or not navigation data is acquired.

  Further, as a fifth invention, in the positioning method according to any one of the second to fourth inventions, if the estimation of the polarity inversion timing fails, the IQ components of the received signal are accumulated for each polarity. Instead of addition, a positioning method may further be included that further includes cumulative addition of each IQ component of the received signal.

  According to the fifth aspect of the invention, even when the estimation of the polarity determination timing fails, the correlation calculation with the replica code of the spread code is enabled by performing the cumulative addition of each IQ component of the received signal. .

  According to a sixth aspect of the present invention, in the positioning method of the fifth aspect, when the polarity inversion timing is successfully estimated, the cumulative addition for each polarity of the IQ component of the received signal is performed by the first cumulative A positioning method for performing the cumulative addition of each IQ component of the received signal for a second cumulative addition time shorter than the first cumulative addition time when the estimation of the polarity inversion timing fails during the addition time. May be configured.

  When the estimation of the polarity inversion timing is successful, the accumulated addition of the received signals over a long period of time is possible regardless of the arrival time interval of the polarity inversion timing, and the reception sensitivity can be further improved. On the other hand, if the estimation of the polarity reversal timing fails, the cumulative addition exceeding the arrival time interval of the polarity reversal timing causes a decrease in reception sensitivity. In order to prevent a decrease in reception sensitivity, when the estimation of the polarity inversion timing fails, it is necessary to perform cumulative addition in a time shorter than the arrival time interval of the polarity inversion timing.

  Further, as a seventh invention, a program for causing a computer incorporated in a positioning device to execute the positioning method of any one of the first to sixth inventions may be configured.

  Hereinafter, an example of an embodiment suitable for the present invention will be described with reference to the drawings. In the following, a mobile phone is taken as an example of an electronic device equipped with a positioning device, and a case where GPS is used as a positioning system will be described. However, embodiments to which the present invention can be applied are not limited to this. Absent.

1. Functional Configuration FIG. 1 is a block diagram showing a functional configuration of a mobile phone 1 according to this embodiment. The mobile phone 1 includes a GPS antenna 10, a GPS receiving unit 20, a host CPU (Central Processing Unit) 40, an operation unit 50, a display unit 60, a mobile phone antenna 70, and a mobile phone wireless communication circuit. A unit 80, a ROM (Read Only Memory) 90, and a RAM (Random Access Memory) 100 are provided.

  The GPS antenna 10 is an antenna that receives an RF (Radio Frequency) signal including a GPS satellite signal transmitted from a GPS satellite, and outputs the received signal to the GPS receiver 20. The GPS satellite signal is a 1.57542 [GHz] communication signal modulated by a direct spread spectrum system with a PRN (Pseudo Random Noise) code which is a kind of spreading code different for each satellite. The PRN code is pseudo-random noise having a repetition period of 1 ms with a code length of 1023 chips as one PN frame.

  The GPS receiver 20 is a positioning circuit that measures the current position of the mobile phone 1 based on a signal output from the GPS antenna 10 and is a functional block corresponding to a so-called GPS receiver. The GPS receiving unit 20 includes an RF receiving circuit unit 21 and a baseband processing circuit unit 30. The RF receiving circuit unit 21 and the baseband processing circuit unit 30 can be manufactured as separate LSIs (Large Scale Integration) or can be manufactured as one chip.

  The RF receiving circuit unit 21 is a high-frequency signal (RF signal) receiving circuit block, and generates an oscillation signal for RF signal multiplication by dividing or multiplying a predetermined oscillation signal. Then, by multiplying the generated oscillation signal by the RF signal received by the GPS antenna 10, the RF signal is down-converted to an intermediate frequency signal (hereinafter referred to as “IF (Intermediate Frequency) signal”), and IF After amplifying the signal, it is converted into a digital signal by an A / D converter and output to the baseband processing circuit unit 30.

  That is, the RF receiving circuit unit 21 is a receiving system that performs signal reception by a so-called superheterodyne method. Although the detailed circuit configuration is not illustrated, the RF receiving circuit unit 21 multiplies the RF signal by the oscillation signal and a signal obtained by shifting the phase of the oscillation signal by 90 degrees, thereby obtaining an in-phase component (I component) as an IF signal. ) And quadrature component (Q component) signals (I signal and Q signal), A / D-convert each of the I component and Q component, and output to the baseband processing circuit unit 30.

  The baseband processing circuit unit 30 is a circuit unit that performs correlation processing or the like on the IF signal output from the RF receiving circuit unit 21 to acquire and extract a GPS satellite signal, decodes the data, and performs a positioning operation. . The baseband processing circuit unit 30 includes a buffer unit 31, a memory unit 32, a correlation calculation unit 33, a replica code generation unit 34, a CPU 35, a ROM 36, and a RAM 37. In the present embodiment, the current position positioning calculation itself is described as being executed by the CPU 35, but the host CPU 40 may of course calculate the current position.

  The buffer unit 31 is a buffer that accumulates and stores the I and Q signals of the received signal input from the RF receiving circuit unit 21 in time series according to the control signal of the CPU 35. The buffer unit 31 includes an I signal buffer 311 that stores time series data of I signals, and a Q signal buffer 312 that stores time series data of Q signals.

  The memory unit 32 is a memory used when the CPU 35 cumulatively adds the time series data of the I and Q signals stored in the buffer unit 31. The CPU 35 dynamically secures a signal storage area in the memory unit 32 according to success or failure of estimation of the polarity inversion timing of the I and Q signals by the polarity inversion timing estimation processing described later, and cumulatively adds the I and Q signals. I do.

  Specifically, if the estimation of the polarity inversion timing is successful, the I and Q signals accumulated and stored in the buffer unit 31 are processed until the first cumulative addition time (for example, “200 milliseconds”) elapses. In the meantime, accumulative addition is performed for each polarity according to the polarity inversion timing and the polarity of the estimated I and Q signals (reception signals). In this case, the positive polarity I signal, the negative polarity I signal, the positive polarity Q signal, and the negative polarity Q signal (hereinafter referred to as “I + signal”, “I− signal”, “Q + signal”, respectively) are stored in the memory unit 32. ”And“ Q-signal ”) are set, and corresponding signals are cumulatively added to the respective storage areas.

  On the other hand, if the estimation of the polarity inversion timing has failed, the I and Q signals accumulated and stored in the buffer unit 31 are accumulated until the second cumulative addition time (for example, “10 milliseconds”) elapses. to add. In this case, two storage areas for the I signal and the Q signal are set in the memory unit 32, and corresponding signals are cumulatively added to the respective storage areas.

  When the polarity inversion timing is successfully estimated, each of the I and Q signals can be cumulatively added for each polarity. Therefore, even if the signals are cumulatively added over a long period of time, the components of the opposite polarity of the received signal are added together. Signal cancellation due to being performed. However, when the estimation of the polarity inversion timing fails, the I and Q signals cannot be cumulatively added for each polarity, and if the signals are cumulatively added over a period longer than the arrival time interval of the polarity inversion timing, There is a possibility that a part or all of the signals may be canceled by adding components having opposite polarities. Therefore, the second cumulative addition time needs to be shorter than the first cumulative addition time, preferably a time equal to or shorter than “20 milliseconds” that is the arrival time interval of the polarity reversible timing of the navigation data.

  The correlation calculation unit 33 calculates the correlation between the signal calculated as the square sum of the signals cumulatively added to each storage area set in the memory unit 32 by the CPU 35 and the replica code generated by the replica code generation unit 34. It is a circuit part which performs. Specifically, the correlation calculation with the calculated square sum signal is performed while shifting the phase of the replica code (code phase), and the correlation value at each code phase is output to the CPU 35.

  The replica code generation unit 34 generates a replica code that simulates a PRN code of a GPS satellite to be captured (hereinafter referred to as “capture target satellite”) according to a control signal from the CPU 35, and performs a correlation operation on the generated replica code. To the unit 33.

  The CPU 35 is a processor that performs a predetermined positioning calculation and measures the current position of the mobile phone 1. Specifically, the PRN code and code phase included in the GPS satellite signal are detected based on the correlation value output from the correlation calculation unit 33, and the GPS satellite signal is captured and tracked. Then, the GPS satellite signal data acquired and tracked is decoded, and the current position of the mobile phone 1 is determined by performing pseudorange calculation, positioning calculation, and the like based on the orbit information and time information of the GPS satellite.

  FIG. 2 is a diagram illustrating an example of data stored in the ROM 36. The ROM 36 stores a baseband processing program 361 that is read by the CPU 35 and executed as baseband processing (see FIG. 5). The baseband processing program 361 includes a positioning program 3611 executed as a positioning process (see FIGS. 6 and 7), a polarity inversion timing estimation program 3613 executed as a polarity inversion timing estimation process (see FIG. 8), and Is included as a subroutine.

  The positioning process is a process in which the CPU 35 performs a predetermined positioning calculation to determine the current position of the mobile phone 1. More specifically, for each acquisition target satellite, based on the estimation result of the polarity inversion timing, the storage area is dynamically set in the memory unit 32, and the cumulative addition of each of the I and Q signals is performed. Are output to the correlation calculation unit 33. Then, based on the correlation calculation result by the correlation calculation unit 33, the success or failure of acquisition of each acquisition target satellite is determined, and information on the pseudo distance of the satellite that has been successfully acquired (hereinafter referred to as "capture satellite") is used. The current position of the mobile phone 1 is measured by performing the predetermined positioning calculation.

  The polarity inversion timing estimation process is a process in which the CPU 35 estimates the polarity inversion timing of the received signal and its polarity for each capture target satellite. More specifically, when the navigation data of the GPS satellite signal of the capture target satellite has been acquired, the time series data of the received signal stored and stored in the buffer unit 31 is used as the determination target data, and the acquired navigation is performed. A so-called pattern matching process using time series data of data as reference data is performed, and based on the result, the polarity inversion timing of the received signal and its polarity are estimated.

  On the other hand, when the navigation data of the acquisition target satellite has not been acquired, a common data portion having a common data content is selected from the acquired navigation data. Then, pattern matching processing is performed using the received signal stored and stored in the buffer unit 31 as determination target data, and the common data portion as reference data. Based on the result, the polarity inversion timing of the received signal and its polarity are estimated. To do. The baseband processing, positioning processing, and polarity inversion timing estimation processing will be described later in detail using flowcharts.

  FIG. 3 is a diagram illustrating an example of data stored in the RAM 37. The RAM 37 stores acquired navigation data 371, captured satellite data 373, and positioning data 375.

  FIG. 4 is a diagram for explaining the data contents of the acquired navigation data 371. Acquired navigation data is stored in the acquired navigation data 371 in association with the GPS satellite number.

  The navigation data is a signal in which 20 PRN codes (= 20 PN frames) are 1 bit. Data such as almanac (satellite calendar), ephemeris (orbital calendar), ionospheric correction parameters, UTC (Coordinated Universal Time) information, etc. Contains. Among these data, for example, data such as almanac, ionospheric correction parameters, and UTC information are common to all GPS satellites. A portion of the navigation data that has the same data content is referred to as a “common data portion”. In FIG. 4, in order to explain the concept of the common data portion, hatching is applied to a portion corresponding to the common data portion.

  For example, at the start of positioning, the navigation data causes the mobile phone wireless communication circuit unit 80 to perform communication with the base station (hereinafter referred to as “base station communication”), and the navigation data of all GPS satellites are It is possible to obtain the information by receiving it from the station. Instead of receiving navigation data of all GPS satellites, only navigation data of satellites (assumed visible satellites) that are assumed to be located in the sky of the mobile phone 1 may be received.

  Instead of acquiring navigation data by base station communication, the navigation data may be decoded inside the mobile phone 1 to obtain acquired navigation data. In other words, the navigation data obtained by decoding the GPS satellite signal (capture satellite signal) of the captured satellite can be used as acquired navigation data and stored in the acquired navigation data 371 in association with the number of the captured satellite. That's fine.

  The captured satellite data 373 is data in which the captured satellite number is stored, and is updated by the CPU 35 in the baseband processing.

  The positioning data 375 is data in which the positioning position calculated by the positioning calculation is stored, and is updated by the CPU 35 in the baseband process.

  The host CPU 40 is a processor that comprehensively controls each unit of the mobile phone 1 according to various programs such as a system program stored in the ROM 90. The host CPU 40 causes the display unit 60 to display a navigation screen in which the positioning position input from the CPU 35 is plotted.

  The operation unit 50 is an input device configured by, for example, a touch panel or a button switch, and outputs a pressed key or button signal to the host CPU 40. By operating the operation unit 50, various instructions such as a call request and a mail transmission / reception request are input.

  The display unit 60 is a display device that is configured by an LCD (Liquid Crystal Display) or the like and performs various displays based on display signals input from the host CPU 40. The display unit 60 displays a navigation screen, time information, and the like.

  The cellular phone antenna 70 is an antenna that transmits and receives cellular phone radio signals to and from a radio base station installed by a communication service provider of the cellular phone 1.

  The cellular phone wireless communication circuit unit 80 is a cellular phone communication circuit unit configured by an RF conversion circuit, a baseband processing circuit, and the like, and by performing modulation / demodulation of the cellular phone radio signal, the communication and mail Realize transmission / reception and so on.

  The ROM 90 stores a system program for the host CPU 40 to control the mobile phone 1 and various programs and data for realizing a navigation function.

  The RAM 100 forms a work area for temporarily storing a system program executed by the host CPU 40, various processing programs, data being processed in various processes, processing results, and the like.

2. Processing Flow FIG. 5 is a flowchart showing the flow of baseband processing executed in the mobile phone 1 when the CPU 35 reads out and executes the baseband processing program 361 stored in the ROM 36.

  The baseband process is a process of starting execution when the CPU 35 detects that a positioning start instruction has been operated on the operation unit 50 together with the reception of the GPS satellite signal by the RF receiving circuit unit 21. This process is performed in parallel with various processes such as application execution. It should be noted that the power on / off of the mobile phone 1 is linked with the activation / stop of the GPS receiving unit 20 including the RF receiving circuit unit 21, and the process is executed when the power-on operation of the mobile phone 1 is detected. You may decide to start.

  Although not specifically described, during execution of the following baseband processing, reception of an RF signal by the GPS antenna 10, down-conversion to an IF signal by the RF reception circuit unit 21, and IQ separation of the signal are performed. The I and Q signals are output to the baseband processing circuit unit 30 as needed.

  First, the CPU 35 accumulates and stores the I and Q signals of the received signal output from the RF receiving circuit unit 21 in the I signal buffer 311 and the Q signal buffer 312 of the buffer unit 31 in chronological order, respectively ( Step A1). Then, the positioning program 3611 stored in the ROM 36 is read out and executed to perform positioning processing (step A3).

6 and 7 are flowcharts showing the flow of the positioning process.
First, the CPU 35 determines a capture target satellite based on data such as almanac of the acquired navigation data stored in the acquired navigation data 371 of the RAM 37 (step B1). Then, the processing of loop A is executed for each acquisition target satellite (steps B3 to B37). In the loop A, the CPU 35 reads out and executes the polarity inversion timing estimation program 3613 stored in the ROM 36, thereby performing the polarity inversion timing estimation process (step B5).

FIG. 8 is a flowchart showing the flow of the polarity inversion timing estimation process.
First, the CPU 35 refers to the acquired navigation data 371 in the RAM 37 to determine whether or not the navigation data of the capture target satellite has been acquired (step C1). And when it determines with having acquired (step C1; Yes), the time series data of I and Q signal stored in the buffer part 31 of the said acquisition object satellite memorize | stored in the acquired navigation data 371 are acquired. A process (pattern matching process) for checking the time series data of the navigation data and determining a matching portion of the polarity inversion timing in the navigation data is performed (step C3).

  Thereafter, the CPU 35 determines whether or not the matching portion has been successfully determined (step C5). If it is determined that the matching portion has been successful (step C5; Yes), the polarity of the data portion after the matching portion in the navigation data is determined. Based on the inversion timing and the polarity thereof, the polarity inversion timing and the polarity of the reception signal scheduled to arrive in the future are estimated (step C7). Then, the CPU 35 ends the polarity inversion timing estimation process.

  If it is determined in step C1 that the navigation data of the capture target satellite has not been acquired (step C1; No), the CPU 35 determines the number of PN frames of the I and Q signal data stored in the buffer unit 31. Is over a predetermined number (for example, “200”) (step C9). If it is determined that the predetermined number has been exceeded (step C9; Yes), the common data portion of the acquired navigation data stored in the acquired navigation data 371 is selected (step C11).

  Thereafter, the CPU 35 checks the time series data of the I and Q signals stored in the buffer unit 31 with the common data portion, and performs a process (pattern matching process) for determining a matching portion of the polarity inversion timing in the common data portion. Perform (Step C13). Then, the CPU 35 determines whether or not the matching portion has been successfully determined (step C15). If it is determined that the matching portion has succeeded (step C15; Yes), the data portion after the matching portion in the common data portion is determined. Based on the polarity reversal timing and its polarity, the polarity reversal timing and the polarity of the received signal scheduled to arrive in the future are estimated (step C17).

  However, since the navigation data of the acquisition target satellite is not acquired, the polarity inversion timing and the polarity of the data portion (non-common data portion) after the common data portion of the navigation data are unknown. Therefore, the polarity inversion timing and the polarity of the received signal that can be estimated in step C17 are only the polarity inversion timing and the polarity of the portion corresponding to the common data portion of the navigation data. After estimating the polarity inversion timing, the CPU 35 ends the polarity inversion timing estimation process.

  On the other hand, when it is determined in step C9 that the number of PN frames of the data stored in the buffer unit 31 is equal to or less than the predetermined number (step C9; No), the CPU 35 fails to estimate the polarity inversion timing of the received signal. (Step C19). Even when it is determined in step C5 or C15 that the matching portion has failed to be determined (step C5; No, or step C15; No), it is determined that the estimation of the polarity inversion timing of the received signal has failed ( Step C19). Then, the CPU 35 ends the polarity inversion timing estimation process.

  Returning to the positioning process of FIG. 6, after performing the polarity determination timing, the CPU 35 determines whether or not the estimation of the polarity reversal timing is successful (step B7), and when it is determined that it is successful (step B7; Yes), storage areas for the I + signal, the I− signal, the Q + signal, and the Q− signal are set in the memory unit 32 (step B9).

  Next, the CPU 35 starts determining the polarity of the I and Q signals based on the estimation result of the polarity inversion timing (step B11). Then, the CPU 35 starts a process of cumulatively adding each of the I and Q signals stored in the buffer unit 31 to the storage area corresponding to the determined polarity (step B13).

  Thereafter, until the first cumulative addition time (for example, “200 milliseconds”) elapses, the CPU 35 performs polarity determination and cumulative addition of the I and Q signals, and the first cumulative addition time has elapsed. When the determination is made (step B15; Yes), the sum of squares of the signals cumulatively added to the storage areas for the I + signal, the I− signal, the Q + signal, and the Q− signal set in the memory unit 32 is calculated. (Step B17).

  On the other hand, if it is determined in step B7 that the estimation of the polarity inversion timing has failed (step B7; No), the CPU 35 sets storage areas for the I signal and the Q signal in the memory unit 32 (step B19). ). And the process which accumulates and adds each I and Q signal stored in the buffer part 31 to a corresponding storage area is started (step B21).

  Thereafter, the CPU 35 performs cumulative addition of the I and Q signals until a second cumulative addition time (for example, “10 milliseconds”) elapses. If it is determined that the second cumulative addition time has elapsed (step B23; Yes), the CPU 35 stores the signals accumulated and added to the I signal storage area and the Q signal storage area set in the memory unit 32, respectively. The sum of squares is calculated (step B25).

  After calculating the square sum of the signals in step B17 or B25, the CPU 35 outputs the calculated signal to the correlation calculation unit 33 (step B27). Further, the replica code generation unit 34 is instructed to generate a replica code of the PRN code of the capture target satellite (step B29).

  Then, the CPU 35 determines whether or not the maximum correlation value, which is the maximum correlation value among the correlation values output from the correlation calculation unit 33, exceeds a predetermined threshold value (step B31). If it is determined that the maximum correlation value is equal to or less than the threshold value (step B31; No), it is determined that acquisition of the acquisition target satellite has failed, and the process proceeds to the next acquisition target satellite.

  When it is determined that the maximum correlation value has exceeded the threshold (step B31; Yes), the CPU 35 specifies the code phase corresponding to the maximum correlation value (step B33). Then, after adding the capture target satellite to the capture satellite and updating the capture satellite data 373 of the RAM 37 (step B35), the process proceeds to the next capture target satellite.

  After performing the processing of Steps B5 to B35 for all the capture target satellites, the CPU 35 ends the processing of Loop A. Thereafter, for each captured satellite stored in the captured satellite data 373 of the RAM 37, the CPU 35 calculates a pseudo distance from the captured satellite to the mobile phone 1 using the identified code phase (step B39).

  Thereafter, the CPU 35 performs a positioning calculation using, for example, a least square method or a Kalman filter, using the pseudo distances calculated for a plurality of captured satellites, to determine the current position of the mobile phone 1 (step B41). The position is stored in the positioning data 375 of the RAM 37. Since a known method may be applied to the positioning calculation using the least square method or the Kalman filter, detailed description is omitted. Then, the CPU 35 ends the positioning process.

  After returning to the baseband process of FIG. 5 and performing the positioning process, the CPU 35 outputs the positioning position stored in the positioning data 375 of the RAM 37 to the host CPU 40 (step A5). Then, it is determined whether or not a positioning end instruction has been given by the user to the operation unit 50 (step A7), and when it is determined that it has not been made (step A7; No), the process returns to step A3. If it is determined that a positioning end instruction has been given (step A7; Yes), the baseband processing is ended.

3. According to this embodiment, the IQ component of the received signal is cumulatively added for each polarity, and then the sum of squares of the cumulative addition result is calculated to perform the correlation operation. Signal cancellation due to the addition of polar components does not occur, and a decrease in reception sensitivity can be effectively prevented.

  Further, in the present embodiment, when the navigation data of the acquisition target satellite has been acquired, pattern matching processing is performed using the time series data of the acquired navigation data as reference data, and the time series data of the received signal is Determine the matching part, and if the navigation data of the acquisition target satellite has not been acquired, perform pattern matching processing using the common data part of the navigation data as reference data to determine the matching part with the time-series data of the received signal I have to. With this configuration, it is possible to estimate the polarity inversion timing of the received signal and its polarity regardless of whether or not navigation data is acquired.

4). Modified example 4-1. Electronic Device The present invention can be applied to any electronic device provided that it has a positioning device. For example, the present invention can be similarly applied to a notebook personal computer, a PDA (Personal Digital Assistant), a car navigation device, and the like.

4-2. Satellite positioning system In the above-described embodiment, the GPS has been described as an example of the satellite positioning system. Other satellite positioning systems may be used.

4-3. Differentiation of Processing The host CPU 40 may execute part or all of the processing executed by the CPU 35. For example, the host CPU 40 performs a polarity inversion timing estimation process, and the CPU 35 performs a positioning calculation based on the estimation result. Further, the host CPU 40 may execute all the processes executed by the CPU 35 including the positioning calculation.

4-4. Correlation Calculation Processing In the above-described embodiment, the correlation calculation unit 33 is provided independently in the baseband processing circuit unit 30, and the correlation calculation between the square sum of the cumulative addition results of the received signals and the replica code is realized in hardware. Although described as a thing, it is good also as implement | achieving by software because it is set as the structure which CPU35 performs a correlation calculation process.

4-5. In the above-described embodiment, the sum of squares of the cumulative addition result of the received signal is calculated and the correlation operation with the replica code is performed. However, for example, the received signal is not a sum of squares. It is also possible to calculate the fourth power sum or the sixth power sum of the cumulative addition results and perform the correlation operation with the replica code.

The block diagram which shows the function structure of a portable telephone. The figure which shows an example of the data stored in ROM. The figure which shows an example of the data stored in RAM. Explanatory drawing of the data content of acquired navigation data. The flowchart which shows the flow of a baseband process. The flowchart which shows the flow of a positioning process. The flowchart which shows the flow of a positioning process. The flowchart which shows the flow of a polarity inversion timing estimation process.

Explanation of symbols

1 mobile phone, 10 GPS antenna, 20 GPS receiver,
21 RF receiving circuit section, 30 baseband processing circuit section, 31 buffer section,
32 memory units, 33 correlation calculation units, 34 replica code generation units,
35 CPU, 36 ROM, 37 RAM, 40 host CPU,
50 operation unit, 60 display unit, 70 mobile phone antenna,
80 Wireless communication circuit for mobile phone, 90 ROM, 100 RAM

Claims (5)

  1. Each IQ component of the received signal of the positioning signal spread-modulated with the spreading code whose polarity is inverted by the navigation data is cumulatively added for each polarity , and a correlation operation with the replica code of the spreading code is performed using this cumulative addition result. In addition, a positioning method for performing a predetermined positioning calculation based on the result of the correlation calculation and positioning the current position ,
    When the navigation data corresponding to the positioning signal has been acquired, the time series data of the received signal is checked against the time series data of the navigation data of the positioning signal, and the polarity inversion timing in the navigation data is checked. By determining the match portion, estimating the timing at which the polarity of the received signal is inverted and its polarity;
    Selecting a common data portion that is common between navigation data of different positioning signals;
    When the navigation data corresponding to the positioning signal has not been acquired, the time series data of the received signal is checked with the common data portion to determine a matching portion of the polarity inversion timing in the common data portion. Estimating the timing at which the polarity of the received signal is inverted and its polarity;
    Including
    The cumulative addition is to cumulatively add each IQ component of the received signal for each polarity according to the estimated polarity reversal timing and its polarity.
    Positioning method.
  2. 2. The method according to claim 1 , further comprising: performing cumulative addition of each IQ component of the received signal instead of cumulative addition for each polarity of the IQ component of the received signal when the estimation of the polarity inversion timing has failed. The positioning method described.
  3. When the estimation of the polarity inversion timing is successful, the cumulative addition for each polarity of the IQ component of the received signal is performed during the first cumulative addition time, and when the estimation of the polarity inversion timing fails, The positioning method according to claim 2 , wherein cumulative addition of each IQ component of the received signal is performed for a second cumulative addition time shorter than the first cumulative addition time.
  4. The program for making the computer incorporated in the positioning apparatus perform the positioning method as described in any one of Claims 1-3 .
  5. A cumulative addition unit that cumulatively adds each IQ component of the received signal of the positioning signal spread-modulated with a spreading code whose polarity is inverted by the navigation data by polarity; and a replica code of the spreading code using the cumulative addition result a correlation calculation unit for performing a correlation operation, on the basis of the result of the correlation operation, a positioning apparatus and a positioning unit for positioning a current position by performing a predetermined positioning calculation,
    When the navigation data corresponding to the positioning signal has been acquired, the time series data of the received signal is checked against the time series data of the navigation data of the positioning signal, and the polarity inversion timing in the navigation data is checked. A first estimator for estimating a timing at which the polarity of the received signal is inverted and its polarity by determining a matching portion;
    A selection section for selecting a common data portion common between navigation data of different positioning signals;
    When the navigation data corresponding to the positioning signal has not been acquired, the time series data of the received signal is checked with the common data portion to determine a matching portion of the polarity inversion timing in the common data portion. A timing at which the polarity of the received signal is inverted and a second estimation unit for estimating the polarity;
    With
    The accumulating unit according to the polarity inversion timing and the polarity estimated by the first estimating unit or the second estimating unit depending on whether or not the navigation data corresponding to the positioning signal has been acquired. , Cumulatively adding each IQ component of the received signal by polarity,
    Positioning device.
JP2008008723A 2008-01-18 2008-01-18 Positioning method, program, and positioning device Active JP5050870B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2008008723A JP5050870B2 (en) 2008-01-18 2008-01-18 Positioning method, program, and positioning device

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2008008723A JP5050870B2 (en) 2008-01-18 2008-01-18 Positioning method, program, and positioning device
US12/352,091 US8125383B2 (en) 2008-01-18 2009-01-12 Positioning method, program thereof, and positioning device
CN 200910005216 CN101487890B (en) 2008-01-18 2009-01-16 Positioning method, program thereof, and positioning device

Publications (2)

Publication Number Publication Date
JP2009168698A JP2009168698A (en) 2009-07-30
JP5050870B2 true JP5050870B2 (en) 2012-10-17

Family

ID=40876062

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2008008723A Active JP5050870B2 (en) 2008-01-18 2008-01-18 Positioning method, program, and positioning device

Country Status (3)

Country Link
US (1) US8125383B2 (en)
JP (1) JP5050870B2 (en)
CN (1) CN101487890B (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010101695A (en) * 2008-10-22 2010-05-06 Pioneer Electronic Corp Signal receiver, correlation processing method, correlation processing program
JPWO2010113301A1 (en) * 2009-04-01 2012-10-04 パイオニア株式会社 Prediction information providing apparatus, prediction information providing method, and prediction information providing program
JP2011202958A (en) * 2010-03-24 2011-10-13 Seiko Epson Corp Signal acquisition method, signal acquisition apparatus and electronic device
CN102176033B (en) * 2010-12-31 2012-11-21 北京航空航天大学 Universal graphic processor based bit compression tracking method for satellite navigation system
CN103983989B (en) * 2014-05-14 2016-05-18 付寅飞 A kind of digital non-integer track loop for satellite positioning navigation receiving system
CN106291619B (en) * 2016-07-29 2017-12-08 中国人民解放军国防科学技术大学 A kind of wireless long-period spread spectrum code signal high-performance catching method of aeronautical satellite inter-satellite link

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5185610A (en) 1990-08-20 1993-02-09 Texas Instruments Incorporated GPS system and method for deriving pointing or attitude from a single GPS receiver
JP3240314B2 (en) 1993-12-14 2001-12-17 古野電気株式会社 Satellite navigation receiver and mobile positioning system
US6078290A (en) 1998-01-06 2000-06-20 Trimble Navigation Limited User-controlled GPS receiver
US6329946B1 (en) * 2000-05-31 2001-12-11 Mitsubishi Denki Kabushiki Kaisha GPS position measuring system and GPS position measuring apparatus
US6898234B1 (en) * 2001-06-27 2005-05-24 Trimble Navigation Limited Signal receiver for integrating and combining integrations in alternating time segments for signal acquisition at low signal strength
JP4617618B2 (en) 2001-07-26 2011-01-26 ソニー株式会社 Method and apparatus for detecting spread code synchronization of spread spectrum signal
JP4211437B2 (en) * 2003-03-07 2009-01-21 日本電気株式会社 Random access burst signal receiving apparatus and method
JP2005064983A (en) * 2003-08-15 2005-03-10 Japan Radio Co Ltd Spread spectrum signal receiver
US7453926B2 (en) 2005-06-01 2008-11-18 Mediatek Incorporation Bit synchronization detection methods and systems
JP4755920B2 (en) * 2006-02-23 2011-08-24 古野電気株式会社 Carrier phase tracking device and pseudo noise code signal tracking device
JP4306693B2 (en) 2006-05-29 2009-08-05 ソニー株式会社 Correlation detection device, correlation detection method, and reception device
US8031816B2 (en) * 2006-07-17 2011-10-04 Mediatek Inc. Method and apparatus for determining boundaries of information elements
CN101029923B (en) 2007-01-19 2010-08-18 Univ Electronic Science & Tech Software receiver for indoor position and navigation technology of global positioning system

Also Published As

Publication number Publication date
CN101487890A (en) 2009-07-22
JP2009168698A (en) 2009-07-30
CN101487890B (en) 2013-05-22
US8125383B2 (en) 2012-02-28
US20090184873A1 (en) 2009-07-23

Similar Documents

Publication Publication Date Title
CN101410725B (en) Helpless indoor global positioning system receiver
JP4718516B2 (en) Signal detector using coherent integration.
JP4855677B2 (en) Signal search procedure for position determination system
CN1155835C (en) Combined GPS positioning system and communication system utilizing shared circuitry
JP4896353B2 (en) Apparatus and method for reducing autocorrelation or cross-correlation in weak CDMA signals
CA2768930C (en) System and/or method for reducing ambiguities in received sps signals
JP4304293B2 (en) GPS positioning system, portable terminal device, GPS receiver, and positioning mode switching method used therefor
JP4435720B2 (en) GPS receiver and method of processing GPS signals
EP2446303B1 (en) GNSS RECEIVER method and apparatus
KR100733997B1 (en) Signal receiving apparatus of global positioning system and mobile wireless terminal apparatus
EP3518586A1 (en) Sensor uses in communication systems
JP2013190437A (en) Improved gps receiver utilizing communication link
US8390513B2 (en) GNSS receiver and signal tracking circuit and system
EP2005260B1 (en) Time correction control apparatus and method of time correction control
KR100810481B1 (en) Methods and apparatuses for processing of global positioning system using a matched filter
US20070019587A1 (en) Mobile radio station and communication parameter control method thereof
CN1419654A (en) Method, mobile stations and systems for acquiring global positioning system timing information
TWI271044B (en) Apparatus and method for acquiring spread-spectrum signals
US7447258B2 (en) Method for performing reacquisition in a positioning receiver, and an electronic device
JP2009537849A (en) System and / or method for determining adequacy of pseudorange measurements
US6643320B1 (en) Receiver for DS-CDMA signals
US7561101B1 (en) Last known position reporting for always-on global positioning system receiver
JP5442902B2 (en) Radio positioning receiver and method for acquiring satellite signals in a radio positioning receiver
CN100338475C (en) RF signal receiver with device to improve receiving dynamic state of signal
JP2008510163A (en) Apparatus, method and computer program for acquiring GPS signals using an adaptive search engine

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20101221

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20120124

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20120125

A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20120326

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20120626

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20120709

R150 Certificate of patent or registration of utility model

Free format text: JAPANESE INTERMEDIATE CODE: R150

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20150803

Year of fee payment: 3

S531 Written request for registration of change of domicile

Free format text: JAPANESE INTERMEDIATE CODE: R313531

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350